Robotic Systems

Learning Outcomes

Subject Specific Intellectual and Research Skills

Having successfully completed this module you will be able to:

• Develop control algorithms for individual robots or robot swarms, to undertake simple tasks such as foraging.
• Appreciate the relevance of the biology-robotic interface and how it can benefit both the understanding of biological systems and the design of individual or groups of robots
• Describe the operation and application of a range of sensors (e.g. vision, tactile) and how they can be applied to a mobile or static robot system
• Analyse the kinematics of a robot and its associated control system

Knowledge and Understanding

Having successfully completed this module, you will be able to demonstrate knowledge and understanding of:

• Be able to identify the limitations of a robot (either mobile or static), together with its end effectors and sensors, when applied to a specific environment or task

Introduction

• Definition of robotic systems, including an overview of manufacturing systems, biologically inspired robotics, medical applications, and space applications.

Manipulators

• Classification of types of robot
• Identification of manipulator components and terminology
• Joints classification
• Mobile robot platforms.

Kinematics

• Axis transformations as applied to robotics
• Application and definition of the DH matrix
• Forward and reverse kinematics
• Introduction to Jacobian and dynamic performance
• Path generation
• Definition of workspace.

Teleoperation

• Master-slave systems
• Supervisory control
• Latency problems.

Robotic end effectors

• Characteristic of the human hand
• Underactuated systems
• Stable grip
• Constraints
• Types of contact
• Mathematical representation of stable grip
• Use of screw twist, and wrench gripper design.

Tactile Sensors

• Construction of tactile and touch sensors
• Interpretation of sensory information
• Use of sensory data to determine kinematic information
• Peg into hole problem
• Contacts
• RCC and IRCC systems.

Vision Systems

• Computer vision
• Sobal operator
• Perception
• Optical flow
• Road car
• Quad-copter navigation

Biologically inspired robotics

• Bio-inspired morphologies
• Sensors and actuators
• What is intelligence
• Reactive and deliberative control
• Learning
• SLAM
• Behaviours
• Multi-robot and swarm systems

Teaching and learning methods

All students will be provided with a hard copy of the lectured material. A number of tutoral sessions will be provide, particularly to cover the kinematic and control aspects of the module.

Resources & Reading list

Textbooks

Schilling R J (1990). Fundamentals of Robotics - Analysis & Control. Prentice Hall.

Craig J J (1993). Introduction to Robotics, Mechanics and Control. Addison Wesley.

McKerrow P J (1993). Introduction to Robotics. Addison Wesley.

Fu K, Gonzalez R and Lee C. Robotics (Control Sensing Vision & Intelligence). McGraw Hill.

Summative

This is how we’ll formally assess what you have learned in this module.

Referral

This is how we’ll assess you if you don’t meet the criteria to pass this module.

Repeat

An internal repeat is where you take all of your modules again, including any you passed. An external repeat is where you only re-take the modules you failed.

Repeat Information

Repeat type: Internal & External